COMB: Common Open Modular robotic platform for Bees

摘要

Experimental access to real honeybee colonies requires robotic systems capable of operating within limited spatial constraints, tolerating hive-specific fouling and environmental conditions, and supporting both sensing and localized actuation without frequent hardware redesign. This paper introduces COMB, a compact, open-source, modular mechatronic platform designed for in-hive experiments within standard observation-hive frames. The platform integrates a XY positioning stage, a Movable Access Window (MAW) for sealed tool access through the hive boundary, interchangeable payload modules, and an embedded control architecture that enables repeatable trajectory execution and signal generation. The platform's capabilities are demonstrated through three representative modules: a biomimetic dance-and-signaling payload, a close-range comb scanner, and an electromagnetic wing actuator for localized oscillatory stimulation. This paper details the hardware and software design of COMB, outlines its operational capabilities, and describes the supporting infrastructure for conducting real-world in-hive experiments. The platform is characterized in engineering terms through tracking waggle-trajectory executions, performing multi-image stitching for repeated comb mosaics, and conducting video-based spectral analysis of the wing actuator. These results position COMB as a reusable experimental robotics platform for controlled in-hive sensing and actuation, and as a compact, generalized successor to earlier task-specific honeybee robotic systems.